diff --git a/packages/redgeometry/src/primitives/bezier.ts b/packages/redgeometry/src/primitives/bezier.ts
index 7084b4f..8cd791d 100644
--- a/packages/redgeometry/src/primitives/bezier.ts
+++ b/packages/redgeometry/src/primitives/bezier.ts
@@ -1102,9 +1102,9 @@ export class BezierRCurve2 {
     }
 
     public getProjectivePoints(): [Point3, Point3, Point3] {
-        const p0 = Point3.fromXY(this.p0.x, this.p0.y);
+        const p0 = Point3.fromXYW(this.p0.x, this.p0.y, 1);
         const p1 = Point3.fromXYW(this.p1.x, this.p1.y, this.w);
-        const p2 = Point3.fromXY(this.p2.x, this.p2.y);
+        const p2 = Point3.fromXYW(this.p2.x, this.p2.y, 1);
 
         return [p0, p1, p2];
     }
diff --git a/packages/redgeometry/src/primitives/point.ts b/packages/redgeometry/src/primitives/point.ts
index beef8a6..a22ab38 100644
--- a/packages/redgeometry/src/primitives/point.ts
+++ b/packages/redgeometry/src/primitives/point.ts
@@ -191,10 +191,6 @@ export class Point3 implements Point3Like {
         return new Point3(obj.x, obj.y, obj.z);
     }
 
-    public static fromXY(x: number, y: number): Point3 {
-        return new Point3(x, y, 1);
-    }
-
     public static fromXYW(x: number, y: number, w: number): Point3 {
         return new Point3(w * x, w * y, w);
     }
diff --git a/packages/redgeometry/src/primitives/quaternion.ts b/packages/redgeometry/src/primitives/quaternion.ts
index 7caee5b..39b8607 100644
--- a/packages/redgeometry/src/primitives/quaternion.ts
+++ b/packages/redgeometry/src/primitives/quaternion.ts
@@ -86,11 +86,11 @@ export class Quaternion implements QuaternionLike {
         // Vector halfway between `v1` and `v2`
         const vu = v1u.add(v2u).unitOrZero();
 
-        // If `v` is zero then `dot = 0` and `cross` just needs to be any normal of `v1`
-        const dot = v1u.dot(vu);
-        const cross = vu.isZero() ? v1u.normalAny() : v1u.cross(vu);
+        // If `vu` is zero then `vd = 0` and `vn` just needs to be any normal of `v1`
+        const vd = v1u.dot(vu);
+        const vn = vu.isZero() ? v1u.normalAroundAny() : v1u.normalAround(vu);
 
-        return new Quaternion(dot, cross.x, cross.y, cross.z);
+        return new Quaternion(vd, vn.x, vn.y, vn.z);
     }
 
     public static fromRotationEuler(angleX: number, angleY: number, angleZ: number, order: RotationOrder): Quaternion {
diff --git a/packages/redgeometry/src/primitives/vector.ts b/packages/redgeometry/src/primitives/vector.ts
index 2044183..1fd2536 100644
--- a/packages/redgeometry/src/primitives/vector.ts
+++ b/packages/redgeometry/src/primitives/vector.ts
@@ -85,6 +85,12 @@ export class Vector2 implements Vector2Like {
         return { x: v.x, y: v.y };
     }
 
+    public abs(): Vector2 {
+        const x = Math.abs(this.x);
+        const y = Math.abs(this.y);
+        return new Vector2(x, y);
+    }
+
     /**
      * Returns the sum of the current vector and a vector `v`.
      */
@@ -216,6 +222,13 @@ export class Vector2 implements Vector2Like {
         return new Vector2(this.x - v.x, this.y - v.y);
     }
 
+    /**
+     * Substracts the current vector from a point `p`.
+     */
+    public subPt(p: Point2): Point2 {
+        return new Point2(p.x - this.x, p.y - this.y);
+    }
+
     public toArray(): [number, number] {
         return [this.x, this.y];
     }
@@ -292,8 +305,8 @@ export class Vector3 implements Vector3Like {
         return new Vector3(obj.x, obj.y, obj.z);
     }
 
-    public static fromXY(x: number, y: number): Vector3 {
-        return new Vector3(x, y, 1);
+    public static fromXYW(x: number, y: number, w: number): Vector3 {
+        return new Vector3(w * x, w * y, w);
     }
 
     public static fromXYZW(x: number, y: number, z: number, w: number): Vector3 {
@@ -304,6 +317,13 @@ export class Vector3 implements Vector3Like {
         return { x: v.x, y: v.y, z: v.z };
     }
 
+    public abs(): Vector3 {
+        const x = Math.abs(this.x);
+        const y = Math.abs(this.y);
+        const z = Math.abs(this.z);
+        return new Vector3(x, y, z);
+    }
+
     /**
      * Returns the sum of the current vector and a vector `v`.
      */
@@ -404,16 +424,23 @@ export class Vector3 implements Vector3Like {
         return new Vector3(-this.x, -this.y, -this.z);
     }
 
+    public normalAround(v: Vector3): Vector3 {
+        return this.cross(v);
+    }
+
     /**
-     * Returns a non-zero normal vector.
+     * Returns the normal vector around the most appropriate axis.
      */
-    public normalAny(): Vector3 {
-        if (this.x !== 0) {
-            return this.normalY();
-        } else if (this.y !== 0) {
-            return this.normalZ();
+    public normalAroundAny(): Vector3 {
+        const absX = Math.abs(this.x);
+        const absY = Math.abs(this.y);
+        const absZ = Math.abs(this.z);
+
+        // Use the two biggest absolute values
+        if (absX <= absY) {
+            return absX <= absZ ? this.normalAroundX() : this.normalAroundZ();
         } else {
-            return this.normalX();
+            return absY <= absZ ? this.normalAroundY() : this.normalAroundZ();
         }
     }
 
@@ -422,8 +449,10 @@ export class Vector3 implements Vector3Like {
      *
      * The normal is defined by the cross product: \
      * `(x, y, z) cross (1, 0, 0) == (0, z, -y)`
+     *
+     * Note: Might return a zero vector.
      */
-    public normalX(): Vector3 {
+    public normalAroundX(): Vector3 {
         return new Vector3(0, this.z, -this.y);
     }
 
@@ -432,8 +461,10 @@ export class Vector3 implements Vector3Like {
      *
      * The normal is defined by the cross product: \
      * `(x, y, z) cross (0, 1, 0) == (-z, 0, x)`
+     *
+     * Note: Might return a zero vector.
      */
-    public normalY(): Vector3 {
+    public normalAroundY(): Vector3 {
         return new Vector3(-this.z, 0, this.x);
     }
 
@@ -442,8 +473,10 @@ export class Vector3 implements Vector3Like {
      *
      * The normal is defined by the cross product: \
      * `(x, y, z) cross (0, 0, 1) == (y, -x, 0)`
+     *
+     * Note: Might return a zero vector.
      */
-    public normalZ(): Vector3 {
+    public normalAroundZ(): Vector3 {
         return new Vector3(this.y, -this.x, 0);
     }
 
@@ -451,6 +484,13 @@ export class Vector3 implements Vector3Like {
         return new Vector3(this.x - v.x, this.y - v.y, this.z - v.z);
     }
 
+    /**
+     * Substracts the current vector from a point `p`.
+     */
+    public subPt(p: Point3): Point3 {
+        return new Point3(p.x - this.x, p.y - this.y, p.z - this.z);
+    }
+
     public toArray(): [number, number, number] {
         return [this.x, this.y, this.z];
     }
@@ -536,14 +576,18 @@ export class Vector4 implements Vector4Like {
         return new Vector4(obj.x, obj.y, obj.z, obj.w);
     }
 
-    public static fromXYZ(x: number, y: number, z: number): Vector4 {
-        return new Vector4(x, y, z, 1);
-    }
-
     public static toObject(v: Vector4): Vector4Like {
         return { x: v.x, y: v.y, z: v.z, w: v.w };
     }
 
+    public abs(): Vector4 {
+        const x = Math.abs(this.x);
+        const y = Math.abs(this.y);
+        const z = Math.abs(this.z);
+        const w = Math.abs(this.w);
+        return new Vector4(x, y, z, w);
+    }
+
     /**
      * Returns the sum of the current vector and a vector `v`.
      */